Development and control method of six-wheel robot with rocker structure

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tadashi Adachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

In our research group, the project, named "networked robotic system for disaster mitigation", has been carried out to perform robotic victim-search in disaster environment. In this project, we have developed a mobile robots' system which consists of small mobile robots (to search victims in collapsed buildings) and a large-mobile-robot (to convey small robots into it). In order to approach to the target buildings, the large robot is required to surmount some debris and bumpy terrain. For this purpose, the robot has six wheels, and two pairs of wheels in front are formed as actuated rocker structures. This wheel configuration can achieve "active load-equalizer" or other control methods by using load cell data. In this paper, the system description and control methods of the large robot are introduced. We also report a performance of the control methods using a "robot dynamics simulator" developed in our group and preliminary experiments using real robot to evaluate the feasibility of our approach.

Original languageEnglish
Title of host publicationSSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings
DOIs
Publication statusPublished - 2007 Dec 1
EventIEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007 - Rome, Italy
Duration: 2007 Sep 272007 Sep 29

Publication series

NameSSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings

Other

OtherIEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007
Country/TerritoryItaly
CityRome
Period07/9/2707/9/29

Keywords

  • Rocker structure
  • Rough terrain

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Safety, Risk, Reliability and Quality
  • Safety Research

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